/*********************************************************************
 *
 * Software License Agreement (BSD License)
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 * Author: Eitan Marder-Eppstein
 *         David V. Lu!!
 *********************************************************************/
#ifndef COSTMAP_2D_VOXEL_LAYER_H_
#define COSTMAP_2D_VOXEL_LAYER_H_

#include <ros/ros.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.h>
#include <costmap_2d/VoxelGrid.h>
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
#include <costmap_2d/VoxelPluginConfig.h>
#include <costmap_2d/obstacle_layer.h>
#include <voxel_grid/voxel_grid.h>

namespace costmap_2d
{

class VoxelLayer : public ObstacleLayer
{
public:
    // this is the unsigned char* member of parent class's parent class Costmap2D.
    VoxelLayer() : voxel_grid_(0, 0, 0) { costmap_ = NULL; }

    virtual ~VoxelLayer();

    virtual void onInitialize();

    virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y,
                              double *max_x, double *max_y);

    void updateOrigin(double new_origin_x, double new_origin_y);

    bool isDiscretized() { return true; }

    virtual void matchSize();

    virtual void reset();


protected:
    virtual void setupDynamicReconfigure(ros::NodeHandle &nh);

    virtual void resetMaps();

private:
    void reconfigureCB(costmap_2d::VoxelPluginConfig &config, uint32_t level);

    void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);

    virtual void raytraceFreespace(const costmap_2d::Observation &clearing_observation,
            double *min_x, double *min_y, double *max_x, double *max_y);

    dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig> *voxel_dsrv_;

    bool publish_voxel_; // 是否发布体素地图
    ros::Publisher voxel_pub_;
    voxel_grid::VoxelGrid voxel_grid_;
    double z_resolution_, origin_z_;
    unsigned int unknown_threshold_, mark_threshold_, size_z_;
    ros::Publisher clearing_endpoints_pub_;
    sensor_msgs::PointCloud clearing_endpoints_;

    inline bool worldToMap3DFloat(double wx, double wy, double wz, double &mx, double &my, double &mz)
    {
        if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_)
            return false;
        mx = ((wx - origin_x_) / resolution_);
        my = ((wy - origin_y_) / resolution_);
        mz = ((wz - origin_z_) / z_resolution_);
        return mx < size_x_ && my < size_y_ && mz < size_z_;
    }

    inline bool worldToMap3D(double wx, double wy, double wz, unsigned int &mx, unsigned int &my, unsigned int &mz)
    {
        if (wx < origin_x_ || wy < origin_y_ || wz < origin_z_) return false;
        mx = (int) ((wx - origin_x_) / resolution_);
        my = (int) ((wy - origin_y_) / resolution_);
        mz = (int) ((wz - origin_z_) / z_resolution_);
        return mx < size_x_ && my < size_y_ && mz < size_z_;
    }

    inline void mapToWorld3D(unsigned int mx, unsigned int my, unsigned int mz, double &wx, double &wy, double &wz)
    {
        // returns the center point of the cell
        wx = origin_x_ + (mx + 0.5) * resolution_;
        wy = origin_y_ + (my + 0.5) * resolution_;
        wz = origin_z_ + (mz + 0.5) * z_resolution_;
    }

    inline double dist(double x0, double y0, double z0, double x1, double y1, double z1)
    {
        return sqrt((x1 - x0) * (x1 - x0) + (y1 - y0) * (y1 - y0) + (z1 - z0) * (z1 - z0));
    }
};

}  // namespace costmap_2d

#endif  // COSTMAP_2D_VOXEL_LAYER_H_
